scholarly journals The Bilinear Model Predictive Method-Based Motion Control System of an Underactuated Ship with an Uncertain Model in the Disturbance

Processes ◽  
2019 ◽  
Vol 7 (7) ◽  
pp. 445 ◽  
Author(s):  
Nguyen ◽  
Tran ◽  
Nguyen
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Bilinear Model ◽  
Underactuated Ship ◽  
Control Signals ◽  
Bound Control ◽  
Channel Separation ◽  
Uncertain Disturbance ◽  
Three Degrees Of Freedom

Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency and ensuring maritime safety. This paper deals with the advanced control system for the three-degrees-of-freedom model of the underactuated ship in the condition of uncertain disturbance. Based on the three-degrees-of-freedom model of the underactuated ship, the authors built a bilinear model of the ship by linearizing each nonlinear model section. Then, the authors used the state estimator to compensate for uncertain components and random disturbances in the model. Finally, the authors built the output-feedback predictive controller based on the channel-separation principle combined with direct observation of the continuous model for controlling the motion of the underactuated ship in the case of uncertain disturbance and the bound control signals. The result is that the movement quality of the underactuated ship is very good in the context of uncertain disturbance and bound control signals.

scholarly journals Hybrid Decentralized Nonlinear Control System for Manipulation Robot with Input Saturations

2021 ◽  
Vol 2096 (1) ◽  
pp. 012069
Author(s):  
E L Eremin ◽  
L V Nikiforova ◽  
E A Shelenok
Keyword(s):  
Control System ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Control Signals ◽  
Dynamic Plant ◽  
Combined Control ◽  
Cross Links ◽  
The Mathematical Model ◽  
Manipulation Robot

Abstract The paper is devoted to consideration of the problem of constructing a discrete-continuous decentralized nonlinear combined control system for two-link robotic manipulator with restrictions in control signals. The mathematical model of the manipulator is presented as a two-channel dynamic plant with nonlinear cross-links. As methods for solving this problem V. M. Popov’s hyperstability criterion and the conditions of L-dissipativity are used. With the help of simulation, the quality of the proposed control system is shown. The results obtained in article may be useful for construction the control systems for manipulators with many degrees of freedom and also for control various mechanical systems.

Design of Control System for Monitoring Camera Cleaning Robot

2014 ◽  
Vol 513-517 ◽  
pp. 4047-4051
Author(s):  
Xiao Meng Li ◽  
Shu Ce Zhang ◽  
Yong Liu ◽  
Xue Heng Tao ◽  
Xue Jun Wang ◽  
...  
Keyword(s):  
Image Processing ◽  
High Pressure ◽  
Control System ◽  
High Altitude ◽  
Degrees Of Freedom ◽  
Cleaning Robot ◽  
Monitoring Camera ◽  
Processing Module ◽  
Three Degrees Of Freedom ◽  
Spray Gun

In order to solve the problem that manual cleaning high-altitude monitoring camera is difficult and risky, the scheme that mobile knee-type robot with three degrees of freedom cleans the monitoring probe instead of worker is proposed, and the control system based on MCU is designed. The hardware and program design is finished, which includes movement of manipulator, cameras jet cleaning with high-pressure spray gun, drying of cameras surface, ultrasonic obstacle avoidance, camera monitoring and image processing module. At last, the experiment and test for the cleaning robot prototype are carried out.

Trajectory Control of an Automated Guided Vehicle Using Feedback Linearization

2006 ◽  
Author(s):  
S. M. Mehdi Ansarey M. ◽  
M. J. Mahjoob
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Automated Guided Vehicle ◽  
State Variables ◽  
Discrete Curvatures ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
And Control ◽  
Three Degrees Of Freedom

In this paper, the dynamics and control of an automated guided vehicle (AGV) is described. The objective is to control the vehicle direction and location with respect to a prescribed trajectory. This is accomplished based on an optimum control strategy using vehicle state variables. A four-wheel vehicle with three degrees of freedom including longitudinal, lateral and yaw motion is considered. The nonlinearity of the tire and steering mechanism is also included. The control system design for circular, straight forward and composite path is presented based on feedback linearization. Some trajectory simulation for discrete curvatures is carried out. The controller was implemented within MATLAB environment. The design was also evaluated using ADAMS full vehicle assembly. The results demonstrated the accuracy of the model and the effectiveness of the developed control system.

The Nonexistence of Three Degrees of Freedom Rotational Fully Decoupled Parallel Mechanism

2013 ◽  
Vol 284-287 ◽  
pp. 1951-1955 ◽  
Author(s):  
Yu Lei Hou ◽  
Da Xing Zeng ◽  
Yan Bin Duan ◽  
Yong Sheng Zhao
Keyword(s):  
Control System ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Structure Design ◽  
Theoretical Significance ◽  
Moving Platform ◽  
Configuration Synthesis ◽  
Three Degrees Of Freedom ◽  
Serial Mechanism

The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and the trajectory planning. Therefore the research on the decoupled parallel mechanism becomes one of the hot of the mechanism fields. While whether the parallel mechanism can realize decouple is the premise for synthesis and analysis of the parallel mechanism. Based on screw theory, the existence of the three degrees of freedom (3-DoF) rotational fully-decoupled parallel mechanism is distinguished. Then taking the 6-PUS/UPU parallel mechanism as example, the rotation angles of the moving platform are measured, which is verified the impossibility of the 3-DoF rotation decoupling. The contents of this paper should possess theoretical significance for the innovative configuration synthesis and structure design of rotational decoupled parallel mechanism.

scholarly journals ANFIS optimized semi-active fuzzy logic controller for magnetorheological dampers

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Manuel Braz César ◽  
Rui Carneiro Barros
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Fuzzy Inference ◽  
Fuzzy Controller ◽  
Magnetorheological Dampers ◽  
Inference System ◽  
Neuro Fuzzy ◽  
Three Degrees Of Freedom

Abstract In this paper, we report on the development of a neuro-fuzzy controller for magnetorheological dampers using an Adaptive Neuro-Fuzzy Inference System or ANFIS. Fuzzy logic based controllers are capable to deal with non-linear or uncertain systems, which make them particularly well suited for civil engineering applications. The main objective is to develop a semi-active control system with a MR damper to reduce the response of a three degrees-of-freedom (DOFs) building structure. The control system is designed using ANFIS to optimize the fuzzy inference rule of a simple fuzzy logic controller. The results show that the proposed semi-active neuro-fuzzy based controller is effective in reducing the response of structural system.

scholarly journals Development and Control of a 5-Axis Reconfigurable Machine Tool

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
Z. M. Bi
Keyword(s):  
Control System ◽  
Machine Tool ◽  
Degrees Of Freedom ◽  
Open Architecture ◽  
Constant Length ◽  
Software Reconfiguration ◽  
Parallel Kinematic ◽  
And Control ◽  
Reconfigurable Machine Tool ◽  
Three Degrees Of Freedom

The development of a hybrid reconfigurable machine tool has been introduced. The machine tool consists of a tripod-based parallel kinematic machine (PKM) module with three degrees of freedom (DOF) and a serial linear table with two DOF. The PKM is installed on a gantry system which is capable of reconfiguring its position and orientation. In the design of tripod-based parallel mechanism, a passive link is used to enhance the stiffness and increase the working load. To avoid the buildup of the heat of the extensive actuation, three joints are actuated via the actuators with a constant length. The geometries of the PKM have been optimized for the best and highest accuracy. In this paper, its control system and the prototyping development are focused. An open architecture is applied, the control methodologies are developed and validated, and the corresponding software tools have been implemented for the software reconfiguration of the control system.

A Control System Design of Underwater Robot for Detecting Underwater Structures

2014 ◽  
Vol 536-537 ◽  
pp. 1105-1109
Author(s):  
Jun Zhou ◽  
Cong Huang ◽  
Bo Liu ◽  
Ting Ting Wang
Keyword(s):  
Control System ◽  
System Design ◽  
Degrees Of Freedom ◽  
Can Bus ◽  
Control System Design ◽  
Underwater Robot ◽  
Robot System ◽  
Video Signals ◽  
Three Degrees Of Freedom ◽  
Underwater Structures

Based on an underwater robot with three degrees of freedom (DOF), a control system with autonomous motion and monitoring function is designed to detect the security of underwater structures. With LabVIEW as the PC software and ARM as the main controller of the lower computer, communicating through the CAN bus, this robot system has the ability of walking freely on the dam surface according to the joystick’s signal , and acquiring the robot’s position and posture as well. In addition, a two-way video multiplexer is used to transfer two video signals, which are used for navigation and observation respectively. Finally, the experiment indicated the system could realize the desired goals .

Development of a Robotic Laparoscope for Laparoscopic Surgery and its Control

2017 ◽  
Vol 29 (3) ◽  
pp. 580-590 ◽  
Author(s):  
Iori Murasawa ◽  
◽  
Shuhei Murofushi ◽  
Chiharu Ishii ◽  
Hideki Kawamura ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Single Port ◽  
Target Position ◽  
Head Direction ◽  
Single Port Surgery ◽  
Left And Right ◽  
Tip Position ◽  
Three Degrees Of Freedom

[abstFig src='/00290003/13.jpg' width='300' text='Robotic laparoscope' ] In this work, a control method for a robotic laparoscope using a motion sensor, namely Kinect for Windows, is proposed so that the surgeon can operate the laparoscope with his/her head motions. In the control system of the robotic laparoscope, four types of head motion (up, down, left, and right), as well as the open-and-close motion of the mouth, are distinguished via a Kinect sensor. The tip of the robotic laparoscope is controlled in order to follow the head direction that is desired by the surgeon. In addition, the surgeon can change the tip speed of the robotic laparoscope through the open-and-close motion of the mouth, in accordance with the operational situation. For validation purposes, the proposed control system was applied to a robotic laparoscope of three degrees of freedom, which was built for the surgical robot for single-port surgery (SPS) that was developed in our previous study, and verification experiments were conducted. It was verified that the operator can control the tip of the robotic laparoscope intuitively, and the tip position of the robotic laparoscope can track the target position quickly and accurately.

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